navigation2
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Feature request: Graceful cancellation of `follow_path` actions
Feature request
Ability to let controllers handle cancelations gracefully
Feature description
At the moment when the follow_path
action is cancelled, a zero velocity is immediately published (see the code and the figure below).
We have a big heavy robot that needs a lot of time to slow down so we want to keep following the current path while decelerating within the deceleration limits.
With move base flex, we could override the cancel
method and return when the cancellation was performed (see
https://github.com/magazino/move_base_flex/issues/171)
Is there a way to achieve this graceful cancel or can we add the same API to Navigation2?